#!/usr/bin/env bash

set -e

# ----------- CONFIGURABLES -----------
REMOTE_USER="niklas"
REMOTE_HOST="192.168.162.249"
REMOTE_PATH="/home/niklas/dataflow-analysis/traces"
TRACING_BASE="analysis/tracing"
LOCAL_PROJECT_DIR="/home/niklas/ROS-Dynamic-Executor-Experiments"
# --------------------------------------

usage() {
    echo "Usage: $0 <ros|edf|sem> <single|multi> <timed|direct> [time_in_seconds] [no_rebuild]"
    echo "Example: $0 ros multi timed 10"
    echo "This script builds the full_topology package, runs a trace, and copies the results to a remote server."
    echo "Parameters:"
    echo "  <ros|edf|sem>     : Scheduler type (ros, edf, sem)"
    echo "  <single|multi>    : Threading type (single, multi)"
    echo "  <timed|direct>    : Fusion type (timed, direct)"
    echo "  <time_in_seconds> : Length of the trace (default: 10)"
    echo "  [no_rebuild]      : Optional flag to skip rebuilding the package (true/false, default: false)"
    exit 1
}

if [[ $# -lt 4 ]]; then
    usage
fi

SCHEDULER_TYPE="$1"
THREADING_TYPE="$2"
FUSION_TYPE="$3"
TRACE_LENGTH="${4:-10}"
NO_REBUILD="${5:-false}"

# Determine defines based on parameters
CMAKE_ARGS=()
[[ "$SCHEDULER_TYPE" == "ros" ]] && CMAKE_ARGS+=("-DROS_DEFAULT_EXECUTOR=ON")
[[ "$SCHEDULER_TYPE" == "edf" ]] && CMAKE_ARGS+=("-DEDF_PRIORITY_EXECUTOR=ON")
[[ "$SCHEDULER_TYPE" == "sem" ]] && CMAKE_ARGS+=("-DSEMANTIC_EXECUTOR=ON")

[[ "$THREADING_TYPE" == "multi" ]] && CMAKE_ARGS+=("-DMULTI_THREADED=ON")
[[ "$FUSION_TYPE" == "timed" ]] && CMAKE_ARGS+=("-DUSE_TIMER_IN_FUSION_NODES=ON")

TRACE_NAME="${SCHEDULER_TYPE}_${THREADING_TYPE}_${FUSION_TYPE}_${TRACE_LENGTH}"

cd "$LOCAL_PROJECT_DIR"

if [[ "$NO_REBUILD" != "true" ]]; then
    echo "[INFO] Rebuilding full_topology package with CMake arguments: ${CMAKE_ARGS[*]}"
    colcon build --packages-select full_topology --cmake-clean-cache --cmake-clean-first --cmake-args "${CMAKE_ARGS[@]}"
else
    echo "[INFO] Skipping rebuild of full_topology package."
fi

source install/setup.bash

echo "[INFO] Launching full_topology with trace length: ${TRACE_LENGTH} seconds"
OUTPUT=$(taskset -c 2,3 ros2 launch full_topology trace_full_topology.launch.py "length:=${TRACE_LENGTH}")
echo "[INFO] Done running full_topology."
TRACE_ID=$(echo ${OUTPUT} | \
  grep -oP '(?<=Writing tracing session to: /home/niklas/ROS-Dynamic-Executor-Experiments/analysis/tracing/)[^\s]+')

if [[ -z "$TRACE_ID" ]]; then
    echo "[ERROR] Failed to get tracing session directory. Aborting."
    exit 2
fi

TIMESTAMP_SUFFIX="${TRACE_ID#trace_full_topology}"
NEW_TRACE_ID="${TRACE_NAME}${TIMESTAMP_SUFFIX}"
TRACE_ORIG_PATH="${TRACING_BASE}/${TRACE_ID}"
TRACE_NEW_PATH="${TRACING_BASE}/${NEW_TRACE_ID}"

echo "[INFO] Converting trace"
ros2 trace-analysis convert "${TRACE_ORIG_PATH}/ust" 2>&1 \
    | grep -v "UserWarning: " \
    | grep -v "return extension.main" \
    | grep -v "converting trace directory" \
    | grep -v "output written to"

if [[ -e "$TRACE_NEW_PATH" ]]; then
    rm -rf "$TRACE_NEW_PATH"
fi
echo "[INFO] Renaming trace from '$TRACE_ORIG_PATH' to '$TRACE_NEW_PATH'"
mv "$TRACE_ORIG_PATH" "$TRACE_NEW_PATH"

scp -qr "$TRACE_NEW_PATH/" "$REMOTE_USER@$REMOTE_HOST:$REMOTE_PATH/"

echo "$NEW_TRACE_ID" >> ./trace_ids.txt

echo "[SUCCESS] Trace analysis '$NEW_TRACE_ID' complete and copied to remote server."
echo ""